Finite‐time robust performance improvement for non‐linear systems in the presence of input non‐linearity and external disturbance

Abstract

The main focus of this research is on improving the performance of dynamic systems with actuator non‐linearities and time‐varying disturbances. To this end, using the concept of finite‐time stability, a novel observer is presented to estimate the disturbances in systems with input non‐linearities. Then, introducing an innovative sliding manifold, a robust observer‐based technique is derived to guarantee the finite‐time stability of the sliding surface. Hence, the closed‐loop system would be stable in the presence of hard non‐linearities and time‐varying disturbances. The performance of the proposed approach was assessed in using a simulation study of two numerical examples. The obtained results and comparison with a conventional method confirmed the benefits of the suggested approach.

Precise Trajectory Tracking of Multi-Rotor UAVs Using Wind Disturbance Rejection Approach

“…Additionally, the KF requires careful manual tuning of process noise parameters and can be computationally demanding, which may be an issue for real-time applications [21]. [22] proposed on improving the performance of the of Dynamic system in presence of disturbances using a new observer with input nonlinearities.…”